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Steamworks code of FRC Team 973: Greybots
This includes determining what's wrong with the current setup
Log files will not clone using git clone
or unzipping a zip of the repository. File name issue? Reproducible on Windows 10.
We need a subsystem for the 2 pixy's that look at the boiler.
This subsystem will have 0 actuators, but will talk to the pixy's to figure out the x and y offsets of the boiler target.
Off the top of my head we need 2 public methods:
Need a subsystem to handle the lights. Here's the interface we want:
When we need to do vision, we'll call SetOn
When we're done with vision, we'll call SetOff
The smartest way to do this is probably in the drive controllers that use vision
When someone calls NotifyFlash(n)
, the lights will flash n times then return to the previous state (on or off)
When the robot gets ahold of a gear, the gear subsystem will call m_lights->NotifyFlash(3)
and the driver will see it and know.
This is my favorite subsystem. It's heckin cute. https://pics.onsizzle.com/live-breaking-news-dang-heckin-doggo-do-a-zoom-he-6204849.png
Need a drive controller that reads from the BoilerPixy subsystem and moves around until the boiler target is centered and at the right distance.
Hey Andrew @yabberyabber
Sorry, to use this to get a hold of you. I didn't know an email address.
Looking at the code again with a unix terminal at my finger tips I see getting the current time like so,
time_t rawtime;
time(&rawtime);
That doesn't seem right by the man page on the c time function. Try
time_t rawtime;
rawtime = time( NULL );
Also the buffer size in strftime, should really be with the sizeof operator.
sizeof( buffer )
Cheers
Single pneumatic solenoid. Default closed.
In auto
In teleop
Slow down when peyton pres t hebutton
if the rio supports syslog it'll be a lot more foolproof than the current method of creating data logs
I'm imagining 4 additional drive controllers.
AutoBoilerTargeting - targets the boiler and goes to a set distance
AssistedBoilerTargeting - targets the boiler but lets the user do the throttle
AutoGearTargeting - targets the gear and drives towards it and handles the peg colliding with the spoke
AssistedGearTargeting - targets the gear but lets the user do the throttle
The assisted targeting controllers might not be necessary. It feels unnatural. Is this evil?
I think we can take out like half the states but let's sit down and draw another state diagram
Allen has a template for making it look nice and pretty in a google spreadsheet.
Allen also has opinions on what constitutes good control layout.
Subsystem that runs one pixy and returns the horizontal offset of the target.
The reason this is a subsystem is so it can be easily shared between two drive controllers (there's gonna be an AutoGearDriveController that just does the whole scoring operation and there's gonna be a AssistedGearDriveController that does the turning and lets the driver do the throttle)
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